Switching arrangements for motor powered articulatable surgical instruments

ABSTRACT

A surgical instrument that includes a surgical end effector that is articulatable relative to a shaft between a home position and a maximum articulated position. A motor operably interfaces with the surgical end effector to move the end effector between the home position and the maximum articulated position. The motor is configured to operate at a first motor speed to articulate the end effector from the home position to a first articulated position between the home position and the maximum articulated position and to operate at a second motor speed to articulate the surgical end effector from the first articulated position to the maximum articulated position.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a powered surgical stapling system;

FIG. 2 is an exploded assembly view of a shaft assembly of the poweredsurgical stapling system of FIG. 1;

FIG. 3 is a cross-sectional view of a portion of the shaft assembly anda surgical end effector of the powered surgical stapling system of FIG.1, with an anvil of the surgical end effector in an open position;

FIG. 4 is a top view of a portion of the shaft assembly and surgical endeffector of FIG. 3 in an unarticulated position;

FIG. 5 is another top view of a portion of the shaft assembly andsurgical end effector of FIG. 3 in an articulated position;

FIG. 6 is an exploded assembly view of a handle or housing of thepowered surgical stapling system of FIG. 1;

FIG. 7 is a cross-sectional view of the handle of FIG. 6 with portionsof the shaft assembly omitted for clarity;

FIG. 8 is an enlarged cross-sectional view of the handle and shaftassembly of FIG. 7;

FIG. 9 is another enlarged cross-sectional view of the handle and shaftassembly of FIG. 7;

FIG. 10 is another side cross-sectional view of the handle and shaftassembly of FIG. 7 in a position that results in the jaws of thesurgical end effector being oriented in an open position;

FIG. 11 is another side cross-sectional view of the handle and shaftassembly of FIG. 7 in a position that results in the closure of the endeffector jaws;

FIG. 12 is a graphical comparison of closure forces between a surgicalinstrument embodiment that employs a progressive closure drive systemand two previous surgical instruments that employ different closuredrive system arrangements;

FIG. 13A is a graphical depiction of a force to fire (FTF) and a forceto close (FTC) experienced by a previous surgical instrument embodimentthat employs camming surfaces on an anvil thereof as a firing member orknife thereof travels through the anvil from a proximal-most startingposition to a distal-most ending position in the anvil (crossheaddistance in inches);

FIG. 13B is a graphical depiction of a force to fire (FTF) and a forceto close (FTC), anvil height and spring height experienced by a surgicalinstrument embodiment that employs a progressive closure drive system;

FIG. 14 is a partial perspective view of a portion of a shaft assembly;

FIG. 15 is a side elevational view of a portion of another poweredsurgical instrument;

FIG. 16 is a partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 17 is another partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 18 is another partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 19 is a perspective view of a motor switch system of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 20 is a perspective view of a proximal nozzle segment or finsegment of a nozzle assembly of the powered surgical instrument of FIG.15;

FIG. 21 is a partial perspective view of portions of the poweredsurgical instrument of FIG. 15 with a distal nozzle portion omitted forclarity;

FIG. 22 is a side elevational view of portions of a chassis portion anda proximal nozzle segment of the powered surgical instrument of FIG. 15with portions of the nozzle assembly thereof omitted for clarity;

FIG. 23 is a graphic depiction of positions of switches of the switchsystem of FIG. 19 relative to a position of a switch traveler thereof inrelation to an articulated position of an end effector of the poweredsurgical instrument of FIG. 15;

FIG. 24 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 25 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 26 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 27 depicts shapes of portions of three different switch travelerembodiments that may be employed in the switch system of FIG. 19;

FIG. 28 is a graphical comparison of motor speeds for each geometricalswitch traveler shape depicted in FIG. 27 to an articulation angle of asurgical end effector coupled thereto; and

FIG. 28A illustrates one form of control circuit that may be employed tocontrol an articulation motor of the powered surgical instrument of FIG.16.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. ______, entitled METHOD FOR        FABRICATING SURGICAL STAPLER ANVILS, Attorney Docket No.        END8577USNP/180088M;    -   U.S. patent application Ser. No. ______, entitled REINFORCED        DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL, Attorney Docket        No. END8578USNP/180393;    -   U.S. patent application Ser. No. ______, entitled SURGICAL        STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE        STABILITY FEATURES, Attorney Docket No. END8579USNP/180089;    -   U.S. patent application Ser. No. ______, entitled FABRICATING        TECHNIQUES FOR SURGICAL STAPLER ANVILS, Attorney Docket No.        END8580USNP/180090;    -   U.S. patent application Ser. No. ______, entitled SURGICAL        STAPLING DEVICES WITH IMPROVED CLOSURE MEMBERS, Attorney Docket        No. END8581USNP/180091;    -   U.S. patent application Ser. No. ______, entitled SURGICAL        STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID        TISSUE PINCH, Attorney Docket No. END8582USNP/180092;    -   U.S. patent application Ser. No. ______, entitled METHOD FOR        OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT, Attorney        Docket No. END8583USNP/180093M;    -   U.S. patent application Ser. No. ______, entitled SURGICAL        INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS, Attorney        Docket No. END8584USNP/180094;    -   U.S. patent application Ser. No. ______, entitled POWERED        SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT        LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS, Attorney Docket        No. END8585USNP/180095;    -   U.S. patent application Ser. No. ______, entitled POWERED        ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING        ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A        FIRING DRIVE SYSTEM, Attorney Docket No. END8586USNP/180096;    -   U.S. patent application Ser. No. ______, entitled ARTICULATABLE        MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION        MOTOR ARRANGEMENTS, Attorney Docket No. END8587USNP/180097; and    -   U.S. Design Patent Application Ser. No. ______, entitled        SURGICAL INSTRUMENT ANVIL, Attorney Docket No.        END8581USDP/180099D.

Applicant of the present application owns the following U.S. PatentApplications and U.S. Patents that are each herein incorporated byreference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/386,185, entitled SURGICAL        STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF,        U.S. Patent Application Publication No. 2018-0168642;    -   U.S. patent application Ser. No. 15/386,230, entitled        ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, U.S. Patent        Application Publication No. 2018-0168649;    -   U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS, U.S. Patent Application        Publication No. 2018-01686;    -   U.S. patent application Ser. No. 15/386,209, entitled SURGICAL        END EFFECTORS AND FIRING MEMBERS THEREOF, U.S. Patent        Application Publication No. 2018-0168645;    -   U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL        ASSEMBLIES, U.S. Patent Application Publication No.        2018-0168644;    -   U.S. patent application Ser. No. 15/386,240, entitled SURGICAL        END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, U.S. Patent        Application Publication No. 2018-0168651.    -   U.S. patent application Ser. No. 15/385,939, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, U.S. Patent Application Publication No. 2018-0168629;    -   U.S. patent application Ser. No. 15/385,941, entitled SURGICAL        TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN        CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND        ARTICULATION AND FIRING SYSTEMS, U.S. Patent Application        Publication No. 2018-0168630;    -   U.S. patent application Ser. No. 15/385,943, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018-0168631;    -   U.S. patent application Ser. No. 15/385,950, entitled SURGICAL        TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, U.S.        Patent Application Publication No. 2018-0168635;    -   U.S. patent application Ser. No. 15/385,945, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN; U.S. Patent Application Publication No. 2018-0168632;    -   U.S. patent application Ser. No. 15/385,946, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018-0168633;    -   U.S. patent application Ser. No. 15/385,951, entitled SURGICAL        INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW        OPENING DISTANCE, U.S. Patent Application Publication No.        2018-0168636;    -   U.S. patent application Ser. No. 15/385,953, entitled METHODS OF        STAPLING TISSUE, U.S. Patent Application Publication No.        2018-0168637;    -   U.S. patent application Ser. No. 15/385,954, entitled FIRING        MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL        END EFFECTORS, U.S. Patent Application Publication No.        2018-0168638;    -   U.S. patent application Ser. No. 15/385,955, entitled SURGICAL        END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, U.S.        Patent Application Publication No. 2018-0168639;    -   U.S. patent application Ser. No. 15/385,948, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018-0168584;    -   U.S. patent application Ser. No. 15/385,956, entitled SURGICAL        INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, U.S. Patent        Application Publication No. 2018-0168640;    -   U.S. patent application Ser. No. 15/385,958, entitled SURGICAL        INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING        SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,        U.S. Patent Application Publication No. 2018-0168641;    -   U.S. patent application Ser. No. 15/385,947, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, U.S. Patent Application Publication No. 2018-0168634;    -   U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR        RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, U.S. Patent        Application Publication No. 2018-0168597;    -   U.S. patent application Ser. No. 15/385,898, entitled        STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES        OF STAPLES, U.S. Patent Application Publication No.        2018-0168599;    -   U.S. patent application Ser. No.15/385,899, entitled SURGICAL        INSTRUMENT COMPRISING IMPROVED JAW CONTROL, U.S. Patent        Application Publication No. 2018-0168600;    -   U.S. patent application Ser. No. 15/385,901, entitled STAPLE        CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS        DEFINED THEREIN, U.S. Patent Application Publication No.        2018-0168602;    -   U.S. patent application Ser. No. 15/385,902, entitled SURGICAL        INSTRUMENT COMPRISING A CUTTING MEMBER, U.S. Patent Application        Publication No. 2018-0168603;    -   U.S. patent application Ser. No. 15/385,904, entitled STAPLE        FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT        CARTRIDGE LOCKOUT, U.S. Patent Application Publication No.        2018-0168605;    -   U.S. patent application Ser. No. 15/385,905, entitled FIRING        ASSEMBLY COMPRISING A LOCKOUT, U.S. Patent Application        Publication No. 2018-0168606;    -   U.S. patent application Ser. No. 15/385,907, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A        FIRING ASSEMBLY LOCKOUT, U.S. Patent Application Publication No.        2018-0168608;    -   U.S. patent application Ser. No. 15/385,908, entitled FIRING        ASSEMBLY COMPRISING A FUSE, U.S. Patent Application Publication        No. 2018-0168609;    -   U.S. patent application Ser. No. 15/385,909, entitled FIRING        ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, U.S. Patent        Application Publication No. 2018-0168610;

U.S. patent application Ser. No. 15/385,920, entitled STAPLE-FORMINGPOCKET ARRANGEMENTS, U.S. Patent Application Publication No.2018-0168620;

-   -   U.S. patent application Ser. No.15/385,913, entitled ANVIL        ARRANGEMENTS FOR SURGICAL STAPLERS, U.S. Patent Application        Publication No. 2018-0168614;    -   U.S. patent application Ser. No. 15/385,914, entitled METHOD OF        DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES        WITH THE SAME SURGICAL STAPLING INSTRUMENT, U.S. Patent        Application Publication No. 2018-0168615;    -   U.S. patent application Ser. No. 15/385,893, entitled        BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, U.S. Patent        Application Publication No. 2018-0168594;    -   U.S. patent application Ser. No. 15/385,929, entitled CLOSURE        MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS        WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, U.S.        Patent Application Publication No. 2018-0168626;    -   U.S. patent application Ser. No. 15/385,911, entitled SURGICAL        STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING        SYSTEMS, U.S. Patent Application Publication No. 2018-0168612;    -   U.S. patent application Ser. No. 15/385,927, entitled SURGICAL        STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, U.S. Patent        Application Publication No. 2018-0168625;    -   U.S. patent application Ser. No. 15/385,917, entitled STAPLE        CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS,        U.S. Patent Application Publication No. 2018-0168617;    -   U.S. patent application Ser. No. 15/385,900, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS        AND POCKET SIDEWALLS, U.S. Patent Application Publication No.        2018-0168601;    -   U.S. patent application Ser. No. 15/385,931, entitled        NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR        SURGICAL STAPLERS, U.S. Patent Application Publication No.        2018-0168627;    -   U.S. patent application Ser. No. 15/385,915, entitled FIRING        MEMBER PIN ANGLE, U.S. Patent Application Publication No.        2018-0168616;    -   U.S. patent application Ser. No. 15/385,897, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING        SURFACE GROOVES, U.S. Patent Application Publication No.        2018-0168598;    -   U.S. patent application Ser. No. 15/385,922, entitled SURGICAL        INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, U.S. Patent        Application Publication No. 2018-0168622;    -   U.S. patent application Ser. No. 15/385,924, entitled SURGICAL        INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, U.S. Patent        Application Publication No. 2018-0168624;    -   U.S. patent application Ser. No. 15/385,910, entitled ANVIL        HAVING A KNIFE SLOT WIDTH, U.S. Patent Application Publication        No. 2018-0168611;    -   U.S. patent application Ser. No. 15/385,903, entitled CLOSURE        MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, U.S. Patent        Application Publication No. 2018-0168604;    -   U.S. patent application Ser. No. 15/385,906, entitled FIRING        MEMBER PIN CONFIGURATIONS, U.S. Patent Application Publication        No. 2018-0168607;    -   U.S. patent application Ser. No. 15/386,188, entitled STEPPED        STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, U.S. Patent        Application Publication No. 2018-0168585;    -   U.S. patent application Ser. No. 15/386,192, entitled STEPPED        STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES,        U.S. Patent Application Publication No. 2018-0168643;    -   U.S. patent application Ser. No. 15/386,206, entitled STAPLE        CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, U.S. Patent        Application Publication No. 2018-0168586;    -   U.S. patent application Ser. No. 15/386,226, entitled DURABILITY        FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL        STAPLING INSTRUMENTS, U.S. Patent Application Publication No.        2018-0168648;    -   U.S. patent application Ser. No. 15/386,222, entitled SURGICAL        STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING        FEATURES, U.S. Patent Application Publication No. 2018-0168647;    -   U.S. patent application Ser. No. 15/386,236, entitled CONNECTION        PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING        INSTRUMENTS, U.S. Patent Application Publication No.        2018-0168650;    -   U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR        ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,        ALTERNATIVELY, TO A SURGICAL ROBOT, U.S. Patent Application        Publication No. 2018-0168589;    -   U.S. patent application Ser. No. 15/385,889, entitled SHAFT        ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR        USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, U.S. Patent        Application Publication No. 2018-0168590;    -   U.S. patent application Ser. No. 15/385,890, entitled SHAFT        ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE        SYSTEMS, U.S. Patent Application Publication No. 2018-0168591;    -   U.S. patent application Ser. No. 15/385,891, entitled SHAFT        ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A        ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, U.S. Patent        Application Publication No. 2018-0168592;    -   U.S. patent application Ser. No. 15/385,892, entitled SURGICAL        SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION        STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, U.S.        Patent Application Publication No. 2018-0168593;    -   U.S. patent application Ser. No. 15/385,894, entitled SHAFT        ASSEMBLY COMPRISING A LOCKOUT, U.S. Patent Application        Publication No. 2018-0168595;    -   U.S. patent application Ser. No. 15/385,895, entitled SHAFT        ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, U.S.        Patent Application Publication No. 2018-0168596;    -   U.S. patent application Ser. No. 15/385,916, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018-0168575;    -   U.S. patent application Ser. No. 15/385,918, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018-0168618;    -   U.S. patent application Ser. No. 15/385,919, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018-0168619;    -   U.S. patent application Ser. No. 15/385,921, entitled SURGICAL        STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO        DISENGAGE FIRING MEMBER LOCKOUT FEATURES, U.S. Patent        Application Publication No. 2018-0168621;    -   U.S. patent application Ser. No. 15/385,923, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018-0168623;    -   U.S. patent application Ser. No. 15/385,925, entitled JAW        ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A        FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED        CARTRIDGE IS INSTALLED IN THE END EFFECTOR, U.S. Patent        Application Publication No. 2018-0168576;    -   U.S. patent application Ser. No.15/3 85,926, entitled AXIALLY        MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS        TO JAWS OF SURGICAL INSTRUMENTS, U.S. Patent Application        Publication No. 2018-0168577;    -   U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE        COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW        AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, U.S. Patent        Application Publication No. 2018-0168578;    -   U.S. patent application Ser. No. 15/385,930, entitled SURGICAL        END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR        OPENING AND CLOSING END EFFECTOR JAWS, U.S. Patent Application        Publication No. 2018-0168579;    -   U.S. patent application Ser. No. 15/385,932, entitled        ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT        ARRANGEMENT, U.S. Patent Application Publication No.        2018-0168628;    -   U.S. patent application Ser. No. 15/385,933, entitled        ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE        LINKAGE DISTAL OF AN ARTICULATION LOCK, U.S. Patent Application        Publication No. 2018-0168580;    -   U.S. patent application Ser. No. 15/385,934, entitled        ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN        ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE        SYSTEM, U.S. Patent Application Publication No. 2018-0168581;    -   U.S. patent application Ser. No.15/385,935, entitled LATERALLY        ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END        EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED        CONFIGURATION, U.S. Patent Application Publication No.        2018-0168582;    -   U.S. patent application Ser. No. 15/385,936, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE        AMPLIFICATION FEATURES, U.S. Patent Application Publication No.        , U.S. Patent Application Publication No. 2018-0168583;

U.S. patent application Ser. No. 14/318,996, entitled FASTENERCARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS, U.S.Patent Application Publication No. 2015-0297228;

U.S. patent application Ser. No. 14/319,006, entitled FASTENER CARTRIDGECOMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES, NowU.S. Pat. No. 10,010,324;

U.S. patent application Ser. No. 14/318,991, entitled SURGICAL FASTENERCARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now U.S. Pat. No.9,833,241;

U.S. patent application Ser. No. 14/319,004, entitled SURGICAL ENDEFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now U.S. Pat. No.9,844,369;

U.S. patent application Ser. No.14/319,008, entitled FASTENER CARTRIDGECOMPRISING NON-UNIFORM FASTENERS, U.S. Patent Application PublicationNo. 2015-0297232;

U.S. patent application Ser. No. 14/318,997, entitled FASTENER CARTRIDGECOMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, U.S. Patent ApplicationPublication No. 2015-0297229;

U.S. patent application Ser. No. 14/319,002, entitled FASTENER CARTRIDGECOMPRISING TISSUE CONTROL FEATURES, now U.S. Patent No. 9,877,721;

U.S. patent application Ser. No. 14/319,013, entitled FASTENER CARTRIDGEASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS, U.S. PatentApplication Publication No. 2015-0297233; and

U.S. patent application Ser. No. 14/319,016, entitled FASTENER CARTRIDGEINCLUDING A LAYER ATTACHED THERETO, U.S. Patent Application PublicationNo. 2015-0297235.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/191,775, entitled STAPLE        CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES;    -   U.S. patent application Ser. No. 15/191,807, entitled STAPLING        SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES;    -   U.S. patent application Ser. No. 15/191,834, entitled STAMPED        STAPLES AND STAPLE CARTRIDGES USING THE SAME;    -   U.S. patent application Ser. No. 15/191,788, entitled STAPLE        CARTRIDGE COMPRISING OVERDRIVEN STAPLES; and    -   U.S. patent application Ser. No. 15/191,818, entitled STAPLE        CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Design Patent Application Serial No. 29/569,218, entitled        SURGICAL FASTENER;    -   U.S. Design Patent Application Serial No. 29/569,227, entitled        SURGICAL FASTENER;    -   U.S. Design Patent Application Serial No. 29/569,259, entitled        SURGICAL FASTENER CARTRIDGE; and    -   U.S. Design Patent Application Serial No. 29/569,264, entitled        SURGICAL FASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR        OPERATING A SURGICAL STAPLING SYSTEM;    -   U.S. patent application Ser. No. 15/089,321, entitled MODULAR        SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY;    -   U.S. patent application Ser. No. 15/089,326, entitled SURGICAL        STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE        DISPLAY FIELD;    -   U.S. patent application Ser. No. 15/089,263, entitled SURGICAL        INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;    -   U.S. patent application Ser. No. 15/089,262, entitled ROTARY        POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT        SYSTEM;    -   U.S. patent application Ser. No. 15/089,277, entitled SURGICAL        CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE        MEMBER;    -   U.S. patent application Ser. No. 15/089,296, entitled        INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END        EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS;    -   U.S. patent application Ser. No. 15/089,258, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION;    -   U.S. patent application Ser. No. 15/089,278, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF        TISSUE;    -   U.S. patent application Ser. No. 15/089,284, entitled SURGICAL        STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT;    -   U.S. patent application Ser. No. 15/089,295, entitled SURGICAL        STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT;    -   U.S. patent application Ser. No. 15/089,300, entitled SURGICAL        STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT;    -   U.S. patent application Ser. No. 15/089,196, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT;    -   U.S. patent application Ser. No. 15/089,203, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;    -   U.S. patent application Ser. No. 15/089,210, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;    -   U.S. patent application Ser. No. 15/089,324, entitled SURGICAL        INSTRUMENT COMPRISING A SHIFTING MECHANISM;    -   U.S. patent application Ser. No. 15/089,335, entitled SURGICAL        STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS;    -   U.S. patent application Ser. No. 15/089,339, entitled SURGICAL        STAPLING INSTRUMENT;    -   U.S. patent application Ser. No. 15/089,253, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES        HAVING DIFFERENT HEIGHTS;    -   U.S. patent application Ser. No. 15/089,304, entitled SURGICAL        STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET;    -   U.S. patent application Ser. No. 15/089,331, entitled ANVIL        MODIFICATION MEMBERS FOR SURGICAL STAPLERS;    -   U.S. patent application Ser. No. 15/089,336, entitled STAPLE        CARTRIDGES WITH ATRAUMATIC FEATURES;    -   U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR        STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT;    -   U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR        STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM; and    -   U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR        STAPLING SYSTEM COMPRISING LOAD CONTROL.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Dec. 31, 2015 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS        FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS; and    -   U.S. patent application Ser. No. 14/984,552, entitled SURGICAL        INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATED SHAFT ASSEMBLY;    -   U.S. patent application Ser. No. 15/019,215, entitled SURGICAL        INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS;    -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS; and    -   U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT;    -   U.S. patent application Ser. No. 14/742,885, entitled DUAL        ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE        SURGICAL INSTRUMENTS; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.        2016/0256184;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/02561185;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Patent Application Publication No.        2016/0256071;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Patent Application Publication        No. 2016/0256153;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent        Application Publication No. 2016/0256187;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2016/0256186;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Patent        Application Publication No. 2016/0256155;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Patent        Application Publication No. 2016/0256163;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Patent Application Publication No.        2016/0256160;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Patent Application Publication No. 2016/0256162; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S.        Patent Application Publication No. 2016/0256161.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Patent Application Publication No. 2016/0249919;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Patent Application Publication No. 2016/0249915;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Patent Application Publication No.        2016/0249918;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Patent Application Publication No. 2016/0249916;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2016/0249908;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2016/0249909;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Patent Application        Publication No. 2016/0249945;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Patent Application Publication No.        2016/0249927; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Patent Application Publication No. 2016/0249917.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now        U.S. Patent Application Publication No. 2016/0174977;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Patent        Application Publication No. 2016/0174969;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2016/0174978;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Patent Application Publication        No. 2016/0174976;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Patent Application Publication No. 2016/0174972;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Patent        Application Publication No. 2016/0174983;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application        Publication No. 2016/0174975;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application        Publication No. 2016/0174973;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Patent Application Publication No. 2016/0174970; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Patent Application Publication No. 2016/0174971.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Patent Application Publication        No. 2014/0246471;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2014/0246472;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWREEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Patent Application Publication No. 2014/0246478;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Patent Application Publication No. 2014/0263542;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Patent Application Publication No.        2014/0263564;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2014/0263538;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0263554;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2014/0263565;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Patent No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application        Publication No. 2014/0263539.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Patent Application        Publication No. 2015/0272581;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Patent Application Publication No.        2015/0272574;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Patent Application Publication No. 2015/0272579;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2015/0272569;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Patent Application Publication No. 2015/0272578;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent        Application Publication No. 2015/0272570;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2015/0272572;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Patent        Application Publication No. 2015/0277471;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Patent Application Publication No.        2015/0280424;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272583; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent        Application Publication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent        Application Publication No. 2016/0066912;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Patent Application Publication No. 2016/0066914;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S.        Patent Application Publication No. 2016/0066910;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Patent Application Publication No.        2016/0066909;    -   U.S. patent application Ser. No. 14/479,110, entitled POLARITY        OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Patent        Application Publication No. 2016/0066915;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Patent        Application Publication No. 2016/0066911;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent        Application Publication No. 2016/0066916; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Patent Application Publication No. 2014/0305987;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent        Application Publication No. 2014/0305989;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0305988;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication        No. 2014/0309666;    -   U.S. patent application Ser. No. 14/248,591, entitled        TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S.        Patent Application Publication No. 2014/0305991;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Patent Application Publication No. 2014/0305994;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Patent Application Publication No.        2014/0309665;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Patent Application Publication No. 2014/0305990; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Patent Application Publication No.        2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIG. 1 depicts a motor-driven surgical cutting and fastening instrument10 that may or may not be reused. In the illustrated embodiment, theinstrument 10 includes a housing 100 that comprises a handle 110 that isconfigured to be grasped, manipulated and actuated by the clinician. Inthe illustrated example, a dedicated shaft assembly 1000 is operablycoupled to the handle 110. In alternative embodiments, however, thehandle assembly is configured to be employed with a variety of differentinterchangeable shaft assemblies that each have a surgical end effectoroperably coupled thereto that is configured to perform one or moresurgical tasks or procedures. For example, the interchangeable shaftassemblies disclosed herein may be employed with various roboticsystems, instruments, components and methods disclosed in U.S. patentapplication Ser. No. 13/118,241, filed May 27, 2011, now U.S. Pat. No.9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, that is incorporated by reference herein in itsentirety.

As the present Detailed Description proceeds, it will be understood thatthe various aspects of the shaft assembly 1000 may also be effectivelyemployed in connection with robotically-controlled surgical systems.Thus, the term “housing” may also encompass a housing or similar portionof a robotic system that houses or otherwise operably supports or isotherwise associated with at least one drive system that is configuredto generate and apply at least one control motion which could be used toactuate the interchangeable shaft assemblies disclosed herein and theirrespective equivalents. The term “frame” may refer to a portion of ahandheld surgical instrument. The term “frame” may also represent aportion of a robotically controlled surgical instrument and/or a portionof the robotic system that may be used to operably control a surgicalinstrument. In addition, various components may be “housed” or containedin the housing or various components may be “associated with” a housing.In such instances, the components may not be contained with the housingor supported directly by the housing.

The illustrated embodiment is an endoscopic instrument and, in general,the embodiments of the instrument 10 described herein are endoscopicsurgical cutting and fastening instruments. It should be noted, however,that according to various embodiments, the instrument may be anon-endoscopic surgical cutting and fastening instrument, for example.Various surgical instruments are disclosed in U.S. Pat. No. 7,845,537,entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; U.S. Pat.No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUSWITH MANUALLY RETRACTABLE FIRING SYSTEM; and U.S. Pat. No. 9,050,083,entitled MOTORIZED SURGICAL INSTRUMENT, the entire disclosures of whichare hereby incorporated by reference herein.

Turning to FIG. 2, in the illustrated example, the shaft assembly 1000includes an end effector 1500 that is configured to cut and stapletissue. The end effector 1500 comprises a first jaw 1510 and a secondjaw 1600 that is movably supported on the first jaw 1510. The first jawcomprises an elongated channel 1520 that is configured to operablysupport a surgical staple cartridge 1540 therein. The second jaw 1600comprises an anvil 1610 that includes an elongated anvil body 1612 andan anvil mounting portion 1620. Alternative arrangements arecontemplated, however, wherein the first jaw comprises an anvil and thesecond jaw comprises a surgical staple cartridge or a channel configuredto support a surgical staple cartridge. In the illustrated example, theelongated anvil body 1612 includes a staple forming undersurface 1614thereon that is adapted for confronting relationship with respect to thesurgical staple cartridge 1540. The anvil 1610 is pivotally supported onor movably supported on the elongated channel 1520 by a pair of anviltrunnions 1622 that are formed on the anvil mounting portion 1620. Eachtrunnion 1622 is pivotally received in a corresponding trunnion cradle1524 formed in a proximal end portion of the elongated channel 1520. Thetrunnions 1622 are pivotally retained within their respective cradles1524 by an anvil retainer 1530.

Still referring to FIG. 2, the shaft assembly 1000 includes a spineassembly 1200 that includes a spine shaft 1210 that is configured to,one, slidably support a firing member assembly 1900 therein and, two,slidably support a closure member assembly 2000 which extends around thespine assembly 1200. The spine assembly 1200 further includes upper andlower spine stays 1220 and 1230 that are supported by the spine shaft1210. As can be seen in FIG. 2, a distal end 1212 of spine shaft 1210terminates in an upper lug mount feature 1240 and in a lower lug mountfeature 1250. The upper lug mount feature 1240 is formed with a lug slot1242 therein that is adapted to mountingly support the distal end 1222of the upper spine stay 1220 therein. Similarly, the lower lug mountfeature 1250 is formed with a lug slot 1252 therein that is adapted tomountingly support the distal end 1232 of the lower spine stay 1230therein. The distal end 1222 of the upper spine stay 1220 includes apivot socket 1224 therein that is adapted to rotatably receive therein apivot pin 1532 that is formed on a channel cap or anvil retainer 1530.The distal end 1232 of the lower spine stay 1230 includes lower pivotpin 1234 that adapted to be received within a pivot hole (not shown)formed in the proximal end portion 1522 of the elongated channel 1520.The lower pivot pin 1234 is vertically aligned with the pivot socket1224 to define an articulation axis AA about which the surgical endeffector 1500 may articulate relative to the shaft 1000. See FIG. 3.

In the illustrated arrangement, the closure member assembly 2000comprises a proximal closure tube segment or closure member segment2010. The proximal closure tube segment 2010 is operably coupled to adouble pivot closure sleeve assembly 2020 that defines an articulationjoint 2105 about which the end effector 1500 may articulate relative tothe remaining portion of the shaft assembly 1000. Other shaftassemblies, however, may not be capable of articulation. As can be seenin FIG. 2, in one form, the double pivot closure sleeve assembly 2020comprises an intermediate closure tube segment 2030 that is attached toa distal end 2012 of the proximal closure tube segment 2010. Inaddition, the double pivot closure sleeve assembly 2020 includes an endeffector closure tube or distal closure tube 2040 that has upper andlower distally projecting tangs 2042, 2044. An upper double pivot link2060 includes upwardly projecting distal and proximal pivot pins thatengage respectively an upper distal pin hole in the upper proximallyprojecting tang 2042 and an upper proximal pin hole in an upper distallyprojecting tang 2032 on the intermediate closure tube segment 2030. Alower double pivot link 2070 includes upwardly projecting distal andproximal pivot pins that engage respectively a lower distal pin hole inthe lower proximally projecting tang 2044 and a lower proximal pin holein the lower distally projecting tang 2034. See FIGS. 2 and 3.

As will be discussed in further detail below, the anvil 1610 is movedfrom an open position to a closed position by translating the closuremember assembly 2000 in the distally (direction “DD”). The anvil 1610 isopened by proximally translating the closure member assembly 2000 whichcauses the end effector closure sleeve 2020 to interact with the anvil1610 and pivot it to an open position. Referring to FIGS. 4 and 5, in atleast one arrangement, the distal closure member or end effector closuretube 2040 employs two axially offset, proximal and distal positive jawopening features 2050 and 2052. In FIGS. 4 and 5, the proximal positivejaw opening feature 2050 is located on the right side (as viewed by auser of the tool assembly) of the shaft axis SA. The positive jawopening features 2050, 2052 are configured to interact withcorresponding relieved areas (not shown) and stepped portions (notshown) that are formed on the anvil mounting portion 1620 as describedin further detail in U.S. patent application Ser. No. 15/635,631, filedJun. 28, 2017, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSUREMEMBER, the entire disclosure which has been herein incorporated byreference as well as in other references incorporated herein. Other jawopening arrangements may also be employed.

In the illustrated example as well as other anvil configurationsdisclosed in references incorporated herein, the anvil mounting portion1620 has a cam surface or cam surfaces 1624 formed thereon. As the endeffector closure tube 2040 is moved distally, a cam surface formed on adistal end of the end effector closure tube 2040 interacts with the camsurfaces 1624 on the anvil mounting portion 1620 to cam the anvil 1610into a closed position.

As was also indicated above, the shaft assembly 1000 further includes afiring member assembly 1900 that is supported for axial travel withinthe spine shaft 1210. The firing member assembly 1900 includes anintermediate firing shaft portion 1910 that is configured for attachmentto a distal cutting portion or knife bar 1930. The intermediate firingshaft portion 1910 may include a longitudinal slot 1912 in the distalend thereof which can be configured to receive a tab 1932 on theproximal end of the distal knife bar 1930. The longitudinal slot 1932and the proximal end tab 1932 can be sized and configured to permitrelative movement therebetween and can comprise a slip joint 1940. Theslip joint 1940 can permit the knife bar 1930 to move axially relativeto the intermediate firing shaft portion 1910 to accommodatearticulation of the end effector 1500, for example. The knife bar 1930includes a knife portion 1950 that includes a blade or tissue cuttingedge 1952 and includes an upper anvil engagement tab 1954 and lowerchannel engagement tabs 1956. Various firing member configurations andoperations are disclosed in various other references that areincorporated herein by reference.

In the illustrated example, the surgical end effector 1500 isselectively articulatable about the articulation axis AA by anarticulation drive system 2100. In one form, the articulation drivesystem 2100 includes proximal articulation driver 2110 that is operablycoupled to an intermediate articulation driver 2120 that is pivotallycoupled to a distal articulation link 2130. As can be most particularlyseen in FIGS. 4 and 5, an offset attachment lug 2122 is formed on adistal end of the intermediate articulation driver 2120. A pivot hole2123 is formed in the offset attachment lug 2122 and is configured topivotally receive therein a proximal link pin 2134 formed on theproximal end 2132 of the distal articulation link 2130. A distal end2136 of the articulation link 2120 includes a pivot hole 2138 that isconfigured to pivotally receive therein a channel pin 1526 that isformed on the proximal end portion 1522 of the elongated channel 1520.Thus, axial movement of intermediate articulation driver 2120 willthereby apply articulation motions to the elongated channel 1520 tothereby cause the surgical end effector 1500 to articulate about thearticulation axis AA relative to the spine assembly 1200.

Turning now to FIGS. 6 and 7, the handle 110 comprises handle housingsegments 116, 118 cooperate to form a pistol grip portion 119 that canbe gripped and manipulated by the clinician. As will be discussed infurther detail below, the handle 110 operably supports a plurality ofdrive systems therein that are configured to generate and apply variouscontrol motions to the shaft assembly 1200. Referring now to FIG. 2, thehandle 110 may further include a frame assembly or chassis 200 thatoperably supports a plurality of drive systems. For example, the frameassembly 200 can operably support a “first” or closure drive system,generally designated as 300, which may be employed to apply closing andopening motions to the end effector 1500 of the shaft assembly 1000. Inthe illustrated example, the frame assembly 200 includes a right frameportion 210 and a frame cap 212 that is attached thereto by snapfeatures, lugs, screws, etc. to define a shuttle cavity 214 therein. SeeFIGS. 6 and 7.

In at least one form, the closure drive system 300 may include anactuator in the form of a closure trigger 332 that is pivotallysupported by the frame assembly 200. More specifically, as illustratedin FIGS. 6 and 7, the closure trigger 332 is pivotally coupled to theframe assembly 200 by a pin 333. Such arrangement enables the closuretrigger 332 to be manipulated by a clinician such that when theclinician grips the pistol grip portion 119 of the handle 100, theclosure trigger 332 may be easily pivoted from a starting or“unactuated” position to an “actuated” position and more particularly toa fully compressed or fully actuated position. The closure trigger 332may be biased into the unactuated position by spring or other biasingarrangement. In various forms, the closure drive system 300 furtherincludes a closure linkage assembly 340 that is pivotally coupled to theclosure trigger 1032. As can be seen in FIG. 6, the closure linkageassembly 340 may include a first closure link 342 and a second closurelink 344 that are each pivotally coupled to the closure trigger 332 by apin 335.

Still referring to FIG. 6, it can be observed that the first closurelink 342 may have a locking wall or end 345 thereon that is configuredto cooperate with a closure release assembly 350 that is pivotallycoupled to the right frame portion 210. In at least one form, theclosure release assembly 350 may comprise a release button assembly 352that has a distally protruding locking pawl 354 formed thereon. Therelease button assembly 352 may be pivoted in a counterclockwisedirection by a release spring (not shown). As the clinician depressesthe closure trigger 332 from its unactuated position towards the pistolgrip portion 119 of the handle 100, the first closure link 342 pivotsupward to a point wherein the locking pawl 354 drops into retainingengagement with the locking wall 345 on the first closure link 344thereby preventing the closure trigger 332 from returning to theunactuated position. Thus, the closure release assembly 350 serves tolock the closure trigger 332 in the fully actuated position. When theclinician desires to unlock the closure trigger 332 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 352 such that the locking pawl 354 ismoved out of engagement with the locking wall 345 on the first closurelink 344. When the locking pawl 354 has been moved out of engagementwith the first closure link 344, the closure trigger 332 may pivot backto the unactuated position. Other closure trigger locking and releasearrangements may also be employed.

In the illustrated example, an arm 355 extends from the closure releasebutton 352. A magnetic element 356, such as a permanent magnet, forexample, may be mounted to the arm 355. When the closure release button352 is rotated from its first position to its second position, themagnetic element 356 can move toward a circuit board 400. The circuitboard 400 can include at least one sensor that is configured to detectthe movement of the magnetic element 356. In at least one embodiment,for example, a “Hall Effect” sensor (not shown) can be mounted to thebottom surface of the circuit board 400. The Hall Effect sensor can beconfigured to detect changes in a magnetic field surrounding the HallEffect sensor that are caused by the movement of the magnetic element356. The Hall Effect sensor can be in signal communication with amicrocontroller, for example, which can determine whether the closurerelease button 352 is in its first position, which is associated withthe unactuated position of the closure trigger 332 and the openconfiguration of the end effector, its second position, which isassociated with the actuated position of the closure trigger 332 and theclosed configuration of the end effector, and/or any position betweenthe first position and the second position.

In at least one form, the handle 100 and the frame assembly 200 operablysupport another drive system referred to herein as a firing drive system500 that is configured to apply firing motions to the firing memberassembly 1900 in the shaft assembly 1000. The firing drive system 500may also be referred to herein as a “second drive system”. The firingdrive system 500 may employ an electric motor 502 that is located in thepistol grip portion 119 of the handle 100. In various forms, the motor502 may be a DC brushed driving motor having a maximum rotation of,approximately, 25,000 RPM, for example. In other arrangements, the motormay include a brushless motor, a cordless motor, a synchronous motor, astepper motor, or any other suitable electric motor. The motor 502 maybe powered by a power source 510 that in one form may comprise aremovable power pack 512. As can be seen in FIG. 8, for example, thepower pack 512 may support a plurality of batteries 514 therein.Batteries 514 may each comprise, for example, a Lithium Ion (“LI”) orother suitable battery. The power pack 512 is configured for removableoperable attachment to the circuit board assembly 400 which is alsooperably coupled to the motor 502. A number of batteries 514 may beconnected in series may be used as the power source for the surgicalinstrument 10. In addition, the power source 510 may be replaceableand/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 502 can include a rotatable shaft 506 that operably interfaceswith a gear reducer assembly 520 that is mounted in meshing engagementwith a with a set, or rack, of drive teeth on a longitudinally-movabledrive member 530. An attachment lug 1916 is formed on a proximal end1914 of the intermediate firing shaft portion 1910. The attachment lug1916 is configured to be received within an attachment cradle 536 thatis formed in a distal end of the longitudinally movable drive member530. In use, a voltage polarity provided by the power source 510 canoperate the electric motor 502 in a clockwise direction wherein thevoltage polarity applied to the electric motor by the battery can bereversed in order to operate the electric motor 502 in acounter-clockwise direction. When the electric motor 502 is rotated inone direction, the drive member 530 will be axially driven in the distaldirection “DD”. When the motor 502 is driven in the opposite rotarydirection, the drive member 530 will be axially driven in a proximaldirection “PD”. The handle 100 can include a switch which can beconfigured to reverse the polarity applied to the electric motor 502 bythe power source 510. As with the other forms described herein, thehandle 100 can also include a sensor that is configured to detect theposition of the drive member 530 and/or the direction in which the drivemember 530 is being moved.

Actuation of the motor 502 can be controlled by a firing trigger 540that is pivotally supported on the handle 100. The firing trigger 540may be pivoted between an unactuated position and an actuated position.The firing trigger 540 may be biased into the unactuated position by aspring 542 or other biasing arrangement such that when the clinicianreleases the firing trigger 540, it may be pivoted or otherwise returnedto the unactuated position by the spring or biasing arrangement. In atleast one form, the firing trigger 540 can be positioned “outboard” ofthe closure trigger 332 as was discussed above. In at least one form, afiring trigger safety button 550 may be pivotally mounted to the closuretrigger 332. The safety button 550 may be positioned between the firingtrigger 540 and the closure trigger 332 and have a pivot arm protrudingtherefrom. When the closure trigger 332 is in the unactuated position,the safety button 550 is contained in the handle 100 where the cliniciancannot readily access it and move it between a safety positionpreventing actuation of the firing trigger 540 and a firing positionwherein the firing trigger 540 may be fired. As the clinician depressesthe closure trigger 332, the safety button 550 and the firing trigger540 pivot down wherein they can then be manipulated by the clinician.

As indicated above, in at least one form, the longitudinally movabledrive member 530 has a rack of teeth formed thereon for meshingengagement with a corresponding drive gear of the gear reducer assembly520. At least one form also includes a manually-actuatable “bailout”assembly 560 that is configured to enable the clinician to manuallyretract the longitudinally movable drive member 530 should the motor 502become disabled. See FIG. 7. The bailout assembly 560 may include alever or bailout handle assembly 562 that is configured to be manuallypivoted into ratcheting engagement with teeth 532 also provided in thedrive member 530. Thus, the clinician can manually retract the drivemember 530 by using the bailout handle assembly 562 to ratchet the drivemember 530 in the proximal direction PD. U.S. patent application Ser.No. 12/249,117, filed Oct. 10, 2008, now U.S. Pat. No. 8,608,045,entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM, discloses bailout arrangements and othercomponents, arrangements and systems that may also be employed with thevarious instruments disclosed herein. U.S. Pat. No. 8,608,045, is herebyincorporated by reference herein in its entirety.

One method of attaching the shaft assembly 1000 to the handle will nowbe described with reference to FIGS. 6-9. In the illustrated example,the shaft assembly 1000 includes a nozzle assembly 2200 that includes aproximal nozzle assembly 2210 and a distal nozzle assembly 2250. Theproximal nozzle assembly 2210 includes a right proximal nozzle segment2220 and a left proximal nozzle segment 2230. The proximal nozzlesegments 2220, 2230 may be attached together by snap lugs, screws,adhesive, etc. The distal nozzle assembly 2250 includes a right distalnozzle segment 2260 and a left distal nozzle segment 2270. The rightdistal nozzle segment 2260 and the left distal nozzle segment 2270 arecoupled together by snap features, lugs, screws, adhesive, etc. Theproximal nozzle assembly 2210 and the distal nozzle assembly 2250 may beattached together by adhesive, friction, etc. The nozzle assembly 2200is journaled on the housing 100 for selective rotation relative theretoabout the shaft axis SA. In the illustrated example, the distal nozzleassembly 2250 is provided with an inwardly extending proximal mountingflange 2252 that interfaces with a frame mounting flange 220 formed onframe portion 210 of the frame assembly 200. The proximal nozzleassembly 2210 is formed with fins 2212 to facilitate rotation of thenozzle assembly 2200 about the shaft axis SA.

In the illustrated arrangement, the shaft assembly 1000, including theend effector 1500 attached thereto, is rotatable about the shaft axis SAby rotating the nozzle assembly 2200 relative to the handle 100. As canbe seen in FIG. 8, for example, the distal nozzle assembly 2250 includesa shaft engagement flange 2254 that extends inwardly through nozzleengagement openings 2016 in a proximal end portion 2014 of the proximalclosure tube segment 2010. Such arrangement permits the shaft assembly1000 to be rotated about the shaft axis SA when the clinician rotatesthe nozzle assembly 2200. The nozzle engagement openings 2016 are sizedto permit axial movement of the proximal closure tube segment 2010relative to the shaft engagement flange 2254. Still referring to FIG. 8,the distal nozzle assembly 2250 may further include a support sleeveportion 2256 configured to movably support the proximal closure tubesegment 2010 therein. In addition, as can be seen in FIG. 9, a proximalend 1226 of the upper spine stay 1220 and a proximal end 1236 of thelower spine stay 1230 are each supported in a spine bearing 1260 that isrotatably supported in the frame assembly 200.

Referring now to FIGS. 6, 8 and 9, the proximal end portion 2014 of theproximal closure tube segment 2010 is movably supported in a closureshuttle 360 that is linked to the second closure link 344 of the closurelinkage assembly 340 (FIG. 6). The closure shuttle 360 is slidablysupported in the shuttle cavity 214 in the fame assembly 200. Theproximal end portion 2014 of the proximal closure tube segment 2010extends through a U-shaped cradle opening 362 in the closure shuttle 360to be rotatably supported therein. Such arrangement permits the proximalend portion 2014 of the proximal closure tube segment 2010 to rotaterelative to the closure shuttle 360 when the shaft assembly 1000 isrotated relative to the handle 100. In addition, when the cliniciandepresses the closure trigger 332, the closure shuttle is moved in thedistal direction DD within the shuttle cavity 214 and also causes theclosure member assembly 2000 in the distal direction to apply closuremotions to the end effector 1500.

As can be seen in FIGS. 8 and 9, a first spring 370 is journaled on theproximal portion 2014 of the proximal closure tube segment 2010 betweenthe cradle wall 362 of the closure shuttle 360 and a distal end wall 219formed on the right frame portion 210 (first spring space 221). Theaxial length of the first spring space is designated X₁ The first spring370 biases the closure shuttle 360 proximally (arrow PD) into thestarting position that corresponds to a fully open position of theanvil. See FIG. 10. In the illustrated example, a proximal flange 2018is formed on the proximal end portion 2014 of the proximal closure tubesegment 2010. The proximal flange 2018 is configured to slidably travelwithin a closure or second cavity 364 that is formed in the closureshuttle 360 as shown. The axial length of the second cavity or secondspring space 363 is designated as X₂. In at least one arrangement, forexample, X₁ >X₂. A second closure spring or biasing member 380 islocated within the second spring space 363 to bias the proximal flange2018 on the proximal closure tube segment 2010 in the distal directionDD against the cradle wall 362 of the closure shuttle 360.

During the initial clamping of the target tissue between the anvil 1610and the surgical staple cartridge 1540, the closure drive system 300must apply a sufficient amount of axial closure force to the anvil 1610to pivot the anvil 1610 to a closed position and retain it in thatposition throughout the staple forming process. The term “closureprocedure” in at least one application refers to the process of movingthe anvil from a fully opened position to a closed position on thetarget tissue and retaining the anvil in the closed position until thestaple forming process has been fully completed and the anvil is readyto be reopened to release the target tissue from the end effector. Theamount of closure force required to close the anvil and retain it in aclosed position can vary during the stapling process due to “tissuecreep”. For example, as the anvil compresses the target tissue, fluidwithin the clamped target tissue can “creep” or migrate within thetissue and even flow to adjacent unclamped tissue. Further tissue creepmay be experienced as the knife portion 1950 is driven through theclamped target tissue. Thus, tissue creep can also affect the amount offiring force required to cut the target tissue and fire the stapleswithin the staple cartridge. As the knife portion 1950 nears the end ofits stroke, the amount of required firing force may be reduced becausethe creeping fluid has completed the migration into the adjacentunclamped tissue.

FIG. 10 illustrates the closure drive system 300 in an unactuatedorientation. As can be seen in FIG. 10, the first spring 370 has biasedthe closure shuttle 360 proximally in the PD direction within theshuttle cavity 214 in the frame assembly 200 to its proximal-most orstarting position. As a result of the closure shuttle 360 being attachedto the closure trigger 332 by the closure linkage assembly 340, theclosure trigger 332 is pivoted into the unactuated starting position.When the closure drive system 300 is in that unactuated position, theanvil 1610 is in a fully open position. In at least one example, thefirst spring 370 is “weaker” than the second spring 380. Stated anotherway, the second spring 380 is stiffer than the first spring 370. That isthe spring constant K₁ of the first spring 370 is less than the springconstant K₂ of the second spring 380. Thus, K₂>K₁. In some arrangements, for example, K₂ may be up to ten times greater than K₁. In otherarrangements K₂/K₁>1. In alternative arrangements K₂<K₁. The clinicianinitiates the closure process by depressing the closure trigger 332towards the pistol grip 119 of the housing 100. This action starts tomove the closure shuttle 360 in the distal direction DD which starts tocompress the first spring 370. As the closure shuttle 360 starts movingdistally, the closure shuttle 360 also starts moving the proximalclosure tube segment 2010 distally. As the proximal closure tube segment2010 moves distally, the entire closure member assembly 2000 (of whichthe proximal closure tube segment 2010 is a part) moves distally toapply closure motions to the anvil 1610. As the clinician continues topivot the closure trigger 332 toward the pistol grip 119, the closureshuttle 360 continues to move distally and compresses the first spring370. As the anvil 1610 starts to close, the amount of closure forcesrequired may begin to increase as the anvil 1610 begins to compress thetarget tissue. As the target tissue begins to compress, the fluidscontained therein may begin to creep within the target tissue which candirectly affect the amount of closure forces required to completelyclose the anvil. As the resistance to closure increases, the closuremember assembly 2000 can move in the proximal direction PD against theclosure force applied by the second spring 380 to the proximal closuretube segment 2010. FIG. 11 depicts the closure drive system 300 in afully closed position that corresponds to a fully closed position of theanvil 1610. Thus, the ultimate amount of closure force applied to theanvil 1610 through the closure member assembly 2000 can vary due to theability of the second spring 380 to compress in response to the closureresistance experienced by the anvil during the closure procedure. Thus,the anvil can “progressively close” as it experiences changes in theamount of resistance created by the target tissue. This may also bereferred to herein as generating a “progressive closure force.”

Once the jaws 1510, 1600 are closed onto the target tissue and locked inthat position, the clinician may then institute the firing process bydepressing the firing trigger 540 which causes the knife bar 1910 todrive the knife portion 1950 through the clamped target tissue. As theknife portion 1950 is driven distally through the end effector 1500, theknife blade 152 cuts through the target tissue. In addition, in at leastone arrangement, the knife portion 1950 engages and distally drives acamming assembly, sometimes referred to as a wedge sled 1970 that isslidably supported in the surgical staple cartridge 1540. As the wedgesled 1970 is driven distally through the staple cartridge 1540, the camsformed on the wedge sled 1970 camming engage staple drivers (not shown)that are movably supported within the staple cartridge 1540. Each stapledriver may support one or more surgical staples thereon. The stapledrivers are commonly supported in axially lines located on each side ofan elongated slot that is formed in the staple cartridge. As the wedgesled 1570 contacts the staple drivers, they are driven upward (towardthe closed anvil) 1610 thereby driving the staple(s) supported thereonthrough the target tissue and into forming contact with the stapleforming undersurface 1614 of the anvil body 1612. The wedge sled 1570 isposition distal to the tissue cutting knife blade, so the staples aredeployed through the target tissue before the target tissue is cut.

Further, as the knife portion 1950 is driven through the target tissue,tabs or flanges formed in the knife portion engage the anvil 1610 aswell as the elongated channel 1510 and retain the anvil 1610 and channel1510 closed and spaced at a desired spacing arrangement during thestapling process. While such distal advancement of the knife portion mayreduce the amount of closure force required from the closure system, asignificant amount of “firing forces” must be generated by the firingsystem to push the knife portion 1950 through the target tissue and toovercome the resistive forces and friction of the system as the wedgesled actuates the staple drivers. Thus, the firing system must be ableto generate sufficient firing forces and the firing system componentsmust be sufficiently robust to effectively accommodate such forces whilealso being flexible enough to accommodate articulation of the endeffector. These design requirements of the closure and firing systemsmay also be exacerbated by the type and composition of the targettissue. Further, the components of these systems must be sufficientlysmall enough to be inserted through the small cannulas of trocars.

FIG. 12 is a graphical comparison between a the surgical instrument 10that employs the progressive closure drive system 300 described aboveand two previous surgical instruments A and B that employ differentclosure drive arrangements. Previous surgical instrument A employs aclosure drive system that is directly linked to the closure actuator orclosure trigger. While previous surgical instrument A does employ aspring for biasing the closure system to an unactuated position,previous instrument A does not employ a second biasing member likeinstrument 10 described above. In addition, the anvil of surgicalinstrument A lacks a camming surface or surfaces like anvil 1610described above. Instead, the anvil in surgical instrument A has a hardedge that is arranged for contact by the closure member or tube. As theclosure member contacts that hard edge, the anvil is pivoted closed.

Still referring to FIG. 12, previous surgical instrument B is similar insome aspects to previous surgical instrument A in that surgicalinstrument B has a first biasing member for biasing the closure systemto an unactuated position. However, surgical instrument B does notemploy a second biasing member like instrument 10 described above. Theanvil of surgical instrument B, however, does employ camming surfacesthat are configured to be contacted by the closure member to pivot theanvil to a closed position. FIG. 12 is a plot showing the amount of timeto complete the closure procedure vs the amount of closure forcesrequired during the procedure for each of the three surgicalinstruments: surgical instrument 10, surgical instrument A and surgicalinstrument B. As can be seen in FIG. 12, the amount of closure forcesrequired throughout the closure procedure for surgical instrument 10 isless than the closure forces required by surgical instruments A and B.While the closure forces needed by surgical instrument B are less thanthe closure forces required by surgical instrument A, the closure forcesrequired by surgical instrument 10 are considerably less than theclosure forces required by both A and B throughout the closure process.

FIGS. 13A and 13B compare the force to fire (FTF), the force to close(FTC) experienced by surgical instrument 10 and surgical instrument B(with the camming surfaces on the anvil) as the firing member or knifetravels through the anvil from a proximal-most starting position to adistal-most ending position in the anvil (crosshead distance). FIG. 13Aillustrates the FTF, FTC and the anvil height during the firingprocedure for the surgical instrument B.

FIG. 13B illustrates the FTF, FTC, anvil height and spring height ofsurgical instrument 10. As can be seen from reference to FIGS. 13A and13B, the initial anvil height for surgical instrument B was 0.0510inches and the initial anvil height for surgical instrument 10 was 0.511inches. The peak closure force FTC in pounds for surgical instrument Bwas 51.5 pounds and for surgical instrument 10 was 98.7 pounds. The peakFTF in pounds for surgical instrument B was 48.9 pounds and for surgicalinstrument 10 was 36.4 pounds. Thus, surgical instrument 10 experienceda 25.6% reduction in the amount of closure forces required by surgicalinstrument 10. This reduction in the amount of firing force required mayallow the firing system components to be fabricated from lighter and orsmaller component arrangements.

As indicated above, the surgical instrument 10 includes an articulationdrive system 2100 that is configured to selectively articulate thesurgical end effector 1500 relative to the shaft assembly 1000 about anarticulation axis AA that is transverse to the shaft axis SA. See FIG.14. The articulation drive system 2100 includes an articulation driveassembly 2102 that comprises a proximal articulation driver 2110 that iscoupled to an intermediate articulation driver 2120 that is pivotallycoupled to a distal articulation link 2130 that is attached to theproximal end of the elongated channel 1520. See FIG. 2. In one example,the distal articulation link 2130 is attached to the intermediatearticulation driver 2120 on one side of the shaft axis SA. The distalarticulation link 2130 is attached to the elongated channel 1520 on theopposite side of the shaft axis SA so that the distal articulation link2130 extends transversely across the shaft axis SA. In the illustratedexample, the joint between the proximal articulation driver 2110 and theintermediate articulation driver 2120 may also function as anarticulation lock assembly 2121 that serves to retain the surgical endeffector 1500 in an articulated position after the articulation motionapplied to the proximal articulation driver 2110 is discontinued. In theillustrated example, a distal end 2112 of the proximal articulationdriver 2110 is threaded. The threaded distal end 2112 of the proximalarticulation driver 2110 is in threaded engagement with a threadedsocket 2126 in a proximal end 2124 of the intermediate articulationdriver 2120. Rotation of the proximal articulation driver 2110 in afirst rotary direction will cause the intermediate articulation driver2120 to axially move in a first or distal direction DD. Movement of theintermediate articulation driver 2120 in the distal direction DD willcause the surgical end effector 1500 to pivot about the articulationaxis AA in a first articulation direction AD₁. Rotation of the proximalarticulation driver in a second rotary direction will cause theintermediate articulation driver 2120 to move in a second or proximaldirection PD. Axial movement of the intermediate articulation driver2120 in the proximal direction PD will cause the surgical end effector1500 to pivot about the articulation axis AA in a second articulationdirection AD₂.

In the illustrated example, housing 100 or handle 110 defines alongitudinal axis LA. See FIGS. 15 and 16. As indicated above, the shaftassembly 1000 also defines a shaft axis SA. The shaft axis SA and thelongitudinal axis LA may be coaxial. The longitudinal the articulationdrive system 2100 includes an articulation motor 2140 that is mountedwithin a distal nozzle assembly 2250 for rotational travel therewith inan orbit about the longitudinal axis LA when the user rotates the nozzleassembly 2250 relative to the housing 100. The distal nozzle assembly2250 may also be referred to herein as a “shaft rotator assembly” thatis configured to rotatably couple the shaft assembly 1000 to the housing100. In one arrangement, the articulation motor 2140 includes a gearconfiguration that includes a motor output gear 2142. The motor outputgear 2142 rotates about motor axis MA that is parallel to and offsetfrom the longitudinal axis LA. See FIG. 16. In the illustrated example,the motor output gear 2142 is in meshing engagement with a controlswitch gear 2152 of a motor switch system 2150. The control switch gear2152 is in meshing engagement with a proximal articulation drive gear2118 that is formed on a proximal end 2116 of the proximal articulationdriver 2110. Thus, rotation of the motor output gear 2142 in onedirection will result in rotation of the proximal articulation driver2110 in the first direction which will cause the intermediatearticulation driver 2120 in the distal direction and cause the surgicalend effector 1500 to articulate in the first articulation direction AD₁.Likewise rotation of the articulation motor in an opposite rotarydirection will cause the proximal articulation driver 2110 to rotate ina second rotary direction and thereby cause the intermediatearticulation driver 2120 to move in the proximal direction PD. Movementof the intermediate articulation driver 2120 in the proximal directionPD will cause the surgical end effector 1500 to articulate in the secondarticulation direction AD₂. In various embodiments, the articulationmotor 2140 and gear configuration may, for example, be less than 12 mmin diameter and less than 1.5 inches long. The articulation motor 2140may be of a brushed design with less than 1.5 watt power output. In atleast some embodiments, the power output of the motor 2140 isapproximately 0.75-1.0 watts. The gear configuration may be supported bythe motor housing or it may be separate from the motor housing. In atleast one example, the gear configuration has a 100:1 reduction althoughgear configurations with higher reduction ratios may be employed. Inalternative arrangements, other motor configurations may be employed.

With respect to the articulation lock 2121, the threads on the distalend 2112 of the proximal articulation driver 2110 may, for example,comprise a # 2 screw thread with either a fine (e.g., 64 threads/inch)or a coarse (less than 64 threads/inch) provides sufficient mechanicaladvantage for the articulation motor 2140 to cause articulation of thesurgical end effector 1500 while also functioning as a lock to preventmovement of the surgical end effector 1500 after the articulation motor2140 has been de-energized. As can also be seen in FIG. 2, the proximalarticulation driver 2110 may be provided with a support shoulder portion2119 that has a larger diameter than the adjacent portions of the of theproximal articulation driver 2110. The larger shoulder 2119 slidablyinterfaces with the spine shaft 1210 for additional support when in thelocked position.

Still referring to FIGS. 16-19, the motor switch system 2150 includes aswitch traveler 2170 that is threaded onto a switch drive screw 2160that is attached to the control switch gear 2152. Rotation of the motoroutput gear 2142 will cause the control switch gear 2152 to rotate whichultimately causes the switch drive screw 2160 to rotate. Rotation of theswitch driver screw 2160 results in the axial movement of the switchtraveler 2170 relative to a switch housing 2162 mounted in the distalnozzle assembly 2250. The switch housing 2162 operably supports aplurality of limit switches that are in communication with the controlcircuit board 400 that is supported in or otherwise associated with thehousing 100 as will be further discussed below. See FIG. 16. In theillustrated example, three limit switches are employed: a central limitswitch 2172, a proximal limit switch 2174 and a distal limit switch2176. The switches 2172, 2174, 2176 are wired to a series of circuittraces or conductors 2222, 2224, 2226, 2228 that are mounted within theproximal nozzle assembly 2210. See FIG. 20. Circuit traces 2222, 2224,2226 and 2228 are wired or electrically coupled to the articulationmotor 2140 and switches 2172, 2174, 2176 by wires or flexible circuitconductors (not shown). Turning to FIGS. 21 and 22, a contact block 410is fixedly mounted to the frame assembly 200 and includes contacts 412,424, 416 and 418 that correspond respectively to circuit traces 2222,2224, 2226 and 2228. Contacts 412, 414, 416, 418 are wired to thecontrol circuit board 400. As the proximal nozzle assembly 2210 isrotated relative to the housing 100 about the shaft axis SA,power/control signals may be provided between the control circuit board400 and the articulation motor 2140 and switches 2172, 2174, 2176through a slip joint assembly 411 which comprises the circuit traces2222, 2224, 2226, 2228 and contacts 412, 414, 416, 418 to facilitaterotation of the articulation motor 2140 and the control switch assemblyrelative to the housing 100 about the shaft axis SA. Articulationcontrol switches 2180 are mounted on each side of housing 100 and areused to control the rotation of the articulation motor 2140. See FIG.15. Switches 2180 may comprise “rocker-type” switches that, whendepressed in one direction (arrow 2182), the articulation motor 2140rotates the motor output gear 2142 in one rotary direction and when aswitch 2180 is depressed in an opposite direction (arrow 2184) thearticulation motor rotates the motor output gear 2142 in an oppositerotary direction.

Turning now to FIGS. 19 and 23-26, the positions of switches 2172, 2174,2176 relative to the path of the switch traveler 2170 serve to definethe range of articulation of the surgical end effector 1500. Switch 2172comprises the central or home switch that corresponds to theunarticulated position of the surgical end effector 1500. When in thatposition, a central end effector axis EA is generally aligned with theshaft axis SA. When in this position, for example, the end effector 1500may be inserted through or removed from a trocar cannula. Switch 2174corresponds to a −60° left articulation boundary and switch 2176corresponds to a +60° right articulation boundary. The −60° leftarticulation boundary may also be referred to herein as a “first maximumarticulated position” of the surgical end effector 1500 located on a“first side” or left side of the shaft axis SA. The left −60° angle (LAin FIG. 26) may also be referred to as a “first maximum articulationangle” and comprises the angle between the end effector axis EA and theshaft axis SA when the surgical end effector 1500 is in the firstmaximum articulated position. Similarly, the +60° right articulationboundary may also be referred to herein as a “second maximum articulatedposition” of the surgical end effector 1500 located on a “second side”or right side of the shaft axis SA. The right +60° angle (RA in FIG. 23)may also be referred to as a “second maximum articulation angle” andcomprises the angle between the end effector axis EA and the shaft axisSA when the surgical end effector 1500 is in the second maximumarticulated position. Thus, in the illustrated example, the positions ofswitches 2174 and 2176 establish the maximum articulation positions foreach articulation direction (left and right). In alternativearrangements, only two switches (2174, 2176) may be employed. Theswitches 2172, 2174, 2176 may comprise mechanical switches, Hall Effectswitches, etc.

In at least one example, the central home switch 2172 may also be usedto slow the articulation motor 2140 down prior to crossing the home orunarticulated position to allow the user to more easily determine whenthe end effector 1500 is aligned with the shaft assembly 1000 whichwould facilitate removable through a trocar, for example.

In one example, the geometric shape of the switch traveler in the regionthat is configured to engage the switches 2172, 2174, 2176 is selectedto have a width such that it engages the switches at “X” degrees fromhome and is able to remain in contact with the switch from =X degrees to−X degrees. In at least one example, X=approximately 10 degrees, but Xcould be other values as well. FIGS. 23-26 illustrate the relationshipbetween the switch traveler 2170 and switches 2172, 2174, 2176 and thearticulated position of the surgical end effector 1500. For example, inFIG. 25, when the switch traveler 2170 is in that position, the surgicalend effector 1500 may be in a first articulated position on the firstside of the shaft axis SA, wherein the surgical end effector axis EA ispositioned at a first articulation angle LA₁ relative to the shaft axisSA. Likewise, when the switch traveler 2170 is in the positionillustrated in FIG. 24, for example, the surgical end effector 1500 maybe in a second articulated position located on a second side of theshaft axis SA, wherein the surgical end effector axis EA is positionedat a second articulation angle LA₂ relative to the shaft axis SA. In atleast one arrangement, LA₁=LA₂=approximately 10°, for example.

FIG. 27 provides alternative geometrical shapes of the switch traveler2170 when viewed from the free end of the switch traveler 2170 that isconfigured to interact with switches 2172, 2174, 2176. FIG. 28 is agraphical comparison of motor speeds (for each geometrical shape 2170A,2170B, 2170C) to articulation angle. Switch traveler 2170A is alsodepicted in FIGS. 23-26. 2170C has an actuator point 21701C formedthereon for more precise actuation of the switches 2172, 2174, 2176. Ascan be seen in FIG. 28, the motor speed MS_(2C) only drops off when theactuator point 2171C is in actuation contact with one of the switches2172, 2174, 2176 which correspond to articulation angles of −60°, 0°,+60°. 2170A has a cross-sectional thickness CT_(A) which results in afirst motor speed MS_(1A) for an articulation angle range between −10°to +10°. For articulation angles between −10° to −60° and +10° to +60°,the articulation motor 2140 operates at a second motor speed MS_(2A)that is greater than MS_(1A). 2170B has a cross-sectional thicknessCT_(B) which is greater than the cross-sectional thickness CT_(A) andresults in a first motor speed MS_(1B) for an articulation angle rangebetween −20° to +20°. For articulation angles between −20° to −50° and+20° to +50°, the articulation motor 2140 may operate at a second motorspeed MS_(2B) that is greater than MS_(1B). For articulation anglesbetween −50 to −60 and +50 to +60 the articulation motor 2140 mayoperate at a third motor speed MS_(3B). In the illustrated example,MS_(3B)=MS_(1B).

In various arrangements, the control circuit board 400 may includeswitches 420, 422, 424, 426 that define the articulation limits as wellas a latchable or relay switch 428 that controls the center or homeposition of the end effector. See FIG. 28A. In such arrangement, as thearticulation motor 2140 drives the end effector across the straight orhome position, the latchable or relay switch 428 could be tripped whichwould deactivate the articulation motor 2140. Releasing the articulationcontrol switch 2180 could activate a bypass relay which could deactivatethe center or home switch 2172 and pressing the control switch 2180again could allow the articulation to continue through the homeposition. See FIG. 28A.

EXAMPLES

Example 1—A surgical instrument that comprises a housing that has anelongated shaft assembly operably coupled thereto which defines a shaftaxis. A surgical end effector that defines an end effector axis isoperably coupled to the elongated shaft assembly for selectivearticulation relative thereto between a first home position wherein theend effector axis is aligned with the shaft axis and a maximumarticulated position wherein the end effector axis is positioned at amaximum articulation angle relative to the shaft axis. An articulationmotor is operably supported by the housing and operably interfaces withthe surgical end effector to move the surgical end effector between thefirst home position and the maximum articulated position. Thearticulation motor is configured to operate at a first motor speed toarticulate the end effector from the first home position to a firstarticulated position wherein the end effector axis is positioned at afirst articulation angle relative to the shaft axis. The firstarticulation angle is less than the maximum articulation angle. Thearticulation motor is also configured to operate at a second motor speedto articulate the surgical end effector from the first articulatedposition to the maximum articulated position. The second motor speeddiffers from the first motor speed.

Example 2—The surgical instrument of Example 1, wherein the articulationmotor is configured to operate at the second motor speed to articulatethe surgical end effector from the first articulated position to asecond articulated position wherein the end effector axis is positionedat a second articulation angle relative to the shaft axis that isgreater than the first articulation angle and is less than the maximumarticulation angle. The motor is configured to operate at a third motorspeed to articulate the surgical end effector from the secondarticulated position to the maximum articulated position.

Example 3—The surgical instrument of Example 2, wherein the third motorspeed is equal to the first motor speed.

Example 4—The surgical instrument of Examples 1, 2 or 3, wherein thearticulation motor comprises a rotary articulation drive shaft that ismechanically linked to a switching system that is supported by thehousing for controlling the first and second motor speed.

Example 5—The surgical instrument of Example 4, wherein the switchingsystem comprises a first limit switch that corresponds to the first homeposition and communicates with a source of power for the articulationmotor. A second limit switch corresponds to the maximum articulatedposition and communicates with the source of power. A switch travelermovably interfaces with the rotary articulation drive shaft and isconfigured to move between the first and second limit switches as thesurgical end effector is articulated between the first home position,the first articulated position and the maximum articulated position. Theswitch traveler is configured to actuate the first limit switch when thesurgical end effector is in the first home position and the switchtraveler configured to actuate the second limit switch when the surgicalend effector is in the maximum articulated position.

Example 6—The surgical instrument of Example 5, wherein the switchtraveler is threadably journaled on a switch drive screw thatmechanically interfaces with the articulation drive shaft such that whenthe articulation drive shaft rotates in one rotary direction, the switchdrive screw rotates in a first rotary direction and when thearticulation drive shaft rotates in an opposite rotary direction, theswitch drive screw rotates in a second rotary direction.

Example 7—The surgical instrument of Example 6, wherein the articulationdrive shaft includes a motor drive gear and wherein the switch drivescrew includes a control switch gear that is in meshing engagement withthe motor drive gear.

Example 8—The surgical instrument of Examples 1, 2, 3, 4, 5, 6 or 7,further comprising means for locking the surgical end effector when inany one of the first home position, the first articulated position andthe maximum articulated position.

Example 9—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7 or 8,further comprising an articulation drive assembly that comprises aproximal articulation drive shaft that is rotatably supported by theelongated shaft assembly and is configured to receive rotary actuationmotions from the articulation motor. A distal articulation driveassembly operably interfaces with the proximal articulation drive shaftand the surgical end effector and is configured to move axially inresponse to rotation of the proximal articulation drive shaft.

Example 10—The surgical instrument of Example 9, wherein the distalarticulation drive assembly further comprises an intermediatearticulation driver that is supported for axial travel and is threadablyattached to the proximal articulation drive shaft such that theintermediate articulation driver moves axially in response to rotationof the proximal articulation drive shaft. A distal articulation link isattached to the surgical end effector and the intermediate articulationdriver.

Example 11—A surgical instrument that comprises a housing that has anelongated shaft assembly operably coupled thereto and defines a shaftaxis. A surgical end effector that defines an end effector axis isoperably coupled to the elongated shaft assembly for selectivearticulation relative thereto between a central home position whereinthe end effector axis is aligned with the shaft axis and a first maximumarticulated position on a first side of the shaft axis wherein the d endeffector axis is positioned at a first maximum articulation anglerelative to the shaft axis and a second maximum articulated position ona second side of the shaft axis wherein the end effector axis ispositioned at a second maximum articulation angle relative to the shaftaxis. An articulation motor operably interfaces with the surgical endeffector to move the surgical end effector between the central homeposition and the first and second maximum articulated positions. Thearticulation motor is configured to operate at a first motor speed toarticulate the end effector from the central home position to a firstarticulated position on the first side of the shaft axis wherein the endeffector axis is positioned at a first articulation angle relative tothe shaft axis and wherein the first articulation angle is less than thefirst maximum articulation angle. The articulation motor is alsoconfigured to operate at the first motor speed to articulate the endeffector from the central home position to a second articulated positionon a second side of the shaft axis wherein the end effector axis ispositioned at a second articulation angle relative to the shaft axis andwherein the second articulation angle is less than the second maximumarticulation angle. The articulation motor is further configured tooperate at a second motor speed to articulate the surgical end effectorfrom the first articulated position to the first maximum articulatedposition and from the second articulated position to the second maximumarticulated position, wherein the second motor speed differs from thefirst motor speed.

Example 12—The surgical instrument of Example 11, wherein thearticulation motor is configured to operate at the second motor speed toarticulate the surgical end effector from the first articulated positionto a first intermediate articulated position on the first side of theshaft axis wherein the end effector axis is positioned at a firstintermediate articulation angle relative to the shaft axis that isgreater than the first articulation angle and less than the firstmaximum articulation angle and wherein the motor is configured tooperate at a third motor speed to articulate the surgical end effectorfrom the first intermediate articulated position to the first maximumarticulated position.

Example 13—The surgical instrument of Example 12, wherein thearticulation motor is configured to operate at the second motor speed toarticulate the surgical end effector from the second articulatedposition to a second intermediate articulated position on the secondside of the shaft axis wherein the end effector axis is positioned at asecond intermediate articulation angle relative to the shaft axis thatis greater than the second articulation angle and less than the secondmaximum articulation angle and wherein the motor is configured tooperate at the third motor speed to articulate the surgical end effectorfrom the second intermediate articulated position to the second maximumarticulated position.

Example 14—The surgical instrument of Example 13, wherein the thirdmotor speed is equal to the first motor speed.

Example 15—The surgical instrument of Examples 11, 12, 13 or 14, whereinthe articulation motor comprises a rotary articulation drive shaftmechanically linked to a switching system for controlling the motorspeed.

Example 16—The surgical instrument of Example 15, wherein the switchingsystem comprises a central limit switch that corresponds to central homeposition and communicates with a source of power for the articulationmotor. The switching system further comprises a first maximum limitswitch that corresponds to the first maximum articulated position andcommunicates with the source of power. The switching system alsocomprises a switch traveler that movably interfaces with the rotaryarticulation drive shaft and is configured to move between the firstmaximum limit switch and the central limit switch as the surgical endeffector is articulated between the central home position, the firstarticulated position and the first maximum articulated position. Theswitch traveler is configured to actuate the central limit switch whenthe surgical end effector is in the central home position and the switchtraveler is configured to actuate the first maximum limit switch whenthe surgical end effector is in the first maximum articulated position.

Example 17—The surgical instrument of Example 16, wherein the switchingsystem further comprises a second maximum limit switch that correspondsto the second maximum articulated position and wherein the switchtraveler is configured to move between the second maximum limit switchand the central limit switch as the surgical end effector is articulatedbetween the central home position, the second articulated position andthe second maximum articulated position. The switch traveler isconfigured to actuate the second maximum limit switch when the surgicalend effector is in the second maximum articulated position.

Example 18—The surgical instrument of Examples 11, 12, 13, 14, 15 or 16,further comprising an articulation drive assembly that comprises aproximal articulation drive shaft that is configured to receive rotaryactuation motions from the articulation motor and a distal articulationdrive assembly that operably interfaces with the proximal articulationdrive shaft and the surgical end effector and is configured to moveaxially in response to rotation of the proximal articulation driveshaft.

Example 19—The surgical instrument of Example 18, wherein the distalarticulation drive assembly further comprises an intermediatearticulation driver that is threadably attached to the proximalarticulation drive shaft such that the intermediate articulation drivermoves axially in response to rotation of the proximal articulation driveshaft. A distal articulation link is attached to the surgical endeffector and the intermediate articulation driver.

Example 20—The surgical instrument of Examples 11, 12, 13, 14, 15, 16,17, 18 or 19, wherein the surgical end effector is configured to cut andstaple tissue.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. In certain instances, the motorsdisclosed herein may comprise a portion or portions of a roboticallycontrolled system. Moreover, any of the end effectors and/or toolassemblies disclosed herein can be utilized with a robotic surgicalinstrument system. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, disclosesseveral examples of a robotic surgical instrument system in greaterdetail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/235,972, entitled MOTORIZED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,050,083.    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009; now U.S.        Patent No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012; now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

-   -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument, comprising: a housing; an elongated shaft assembly operably coupled to said housing and defining a shaft axis; a surgical end effector defining an end effector axis and being operably coupled to said elongated shaft assembly for selective articulation relative thereto between a first home position wherein said end effector axis is aligned with said shaft axis and a maximum articulated position wherein said end effector axis is positioned at a maximum articulation angle relative to said shaft axis; and an articulation motor operably supported by said housing and operably interfacing with said surgical end effector to move said surgical end effector between said first home position and said maximum articulated position, said articulation motor configured to operate at a first motor speed to articulate said end effector from said first home position to a first articulated position wherein said end effector axis is positioned at a first articulation angle relative to said shaft axis and wherein said first articulation angle is less than said maximum articulation angle, said articulation motor being further configured to operate at a second motor speed to articulate said surgical end effector from said first articulated position to said maximum articulated position, wherein said second motor speed differs from said first motor speed.
 2. The surgical instrument of claim 1, wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said first articulated position to a second articulated position wherein said end effector axis is positioned at a second articulation angle relative to said shaft axis that is greater than said first articulation angle and less than said maximum articulation angle and wherein said motor is configured to operate at a third motor speed to articulate said surgical end effector from said second articulated position to said maximum articulated position.
 3. The surgical instrument of claim 2, wherein said third motor speed is equal to said first motor speed.
 4. The surgical instrument of claim 1, wherein said articulation motor comprises a rotary articulation drive shaft mechanically linked to a switching system supported by said housing for controlling said first and second motor speeds.
 5. The surgical instrument of claim 4, wherein said switching system comprises: a first limit switch corresponding to said first home position and communicating with a source of power for said articulation motor; a second limit switch corresponding to said maximum articulated position and communicating with said source of power; and a switch traveler movably interfacing with said rotary articulation drive shaft and configured to move between said first and second limit switches as said surgical end effector is articulated between said first home position, said first articulated position and said maximum articulated position, said switch traveler configured to actuate said first limit switch when said surgical end effector is in said first home position and said switch traveler configured to actuate said second limit switch when said surgical end effector is in said maximum articulated position.
 6. The surgical instrument of claim 5, wherein said switch traveler is threadably journaled on a switch drive screw that mechanically interfaces with said articulation drive shaft such that when said articulation drive shaft rotates in one rotary direction, said switch drive screw rotates in a first rotary direction and when said articulation drive shaft rotates in an opposite rotary direction, said switch drive screw rotates in a second rotary direction.
 7. The surgical instrument of claim 6, wherein said articulation drive shaft includes a motor drive gear and wherein said switch drive screw includes a control switch gear in meshing engagement with said motor drive gear.
 8. The surgical instrument of claim 1, further comprising means for locking said surgical end effector in any one of said first home position, said first articulated position and said maximum articulated position.
 9. The surgical instrument of claim 1, further comprising an articulation drive assembly, comprising: a proximal articulation drive shaft rotatably supported by said elongated shaft assembly and configured to receive rotary actuation motions from said articulation motor; and a distal articulation drive assembly operably interfacing with said proximal articulation drive shaft and said surgical end effector and being configured to move axially in response to rotation of said proximal articulation drive shaft.
 10. The surgical instrument of claim 9, wherein said distal articulation drive assembly further comprises: an intermediate articulation driver supported for axial travel and threadably attached to said proximal articulation drive shaft such that said intermediate articulation driver moves axially in response to rotation of said proximal articulation drive shaft; and a distal articulation link attached to said surgical end effector and said intermediate articulation driver.
 11. A surgical instrument, comprising: a housing; an elongated shaft assembly operably coupled to said housing and defining a shaft axis; a surgical end effector defining an end effector axis and being operably coupled to said elongated shaft assembly for selective articulation relative thereto between a central home position wherein said end effector axis is aligned with said shaft axis and a first maximum articulated position on a first side of said shaft axis wherein said end effector axis is positioned at a first maximum articulation angle relative to said shaft axis and a second maximum articulated position on a second side of said shaft axis wherein said end effector axis is positioned at a second maximum articulation angle relative to said shaft axis; and an articulation motor operably interfacing with said surgical end effector to move said surgical end effector between said central home position and said first and second maximum articulated positions, said articulation motor configured to operate at a first motor speed to articulate said end effector from said central home position to a first articulated position on said first side of said shaft axis wherein said end effector axis is positioned at a first articulation angle relative to said shaft axis and wherein said first articulation angle is less than said first maximum articulation angle, said articulation motor configured to operate at said first motor speed to articulate said end effector from said central home position to a second articulated position on said second side of said shaft axis wherein said end effector axis is positioned at a second articulation angle relative to said shaft axis and wherein said second articulation angle is less than said second maximum articulation angle, said articulation motor being further configured to operate at a second motor speed to articulate said surgical end effector from said first articulated position to said first maximum articulated position and from said second articulated position to said second maximum articulated position, wherein said second motor speed differs from said first motor speed.
 12. The surgical instrument of claim 11, wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said first articulated position to a first intermediate articulated position on said first side of said shaft axis wherein said end effector axis is positioned at a first intermediate articulation angle relative to said shaft axis that is greater than said first articulation angle and less than said first maximum articulation angle and wherein said motor is configured to operate at a third motor speed to articulate said surgical end effector from said first intermediate articulated position to said first maximum articulated position.
 13. The surgical instrument of claim 12, wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said second articulated position to a second intermediate articulated position on said second side of said shaft axis wherein said end effector axis is positioned at a second intermediate articulation angle relative to said shaft axis that is greater than said second articulation angle and less than said second maximum articulation angle and wherein said motor is configured to operate at said third motor speed to articulate said surgical end effector from said second intermediate articulated position to said second maximum articulated position.
 14. The surgical instrument of claim 13, wherein said third motor speed is equal to said first motor speed.
 15. The surgical instrument of claim 11, wherein said articulation motor comprises a rotary articulation drive shaft mechanically linked to a switching system for controlling said motor speed.
 16. The surgical instrument of claim 15, wherein said switching system comprises: a central limit switch corresponding to said central home position and communicating with a source of power for said articulation motor; a first maximum limit switch corresponding to said first maximum articulated position and communicating with said source of power; and a switch traveler movably interfacing with said rotary articulation drive shaft and configured to move between said first maximum limit switch and said central limit switch as said surgical end effector is articulated between said central home position, said first articulated position and said first maximum articulated position, said switch traveler configured to actuate said central limit switch when said surgical end effector is in said central home position and said switch traveler configured to actuate said first maximum limit switch when said surgical end effector is in said first maximum articulated position.
 17. The surgical instrument of claim 16, wherein said switching system further comprises a second maximum limit switch corresponding to said second maximum articulated position and wherein said switch traveler is configured to move between said second maximum limit switch and said central limit switch as said surgical end effector is articulated between said central home position, said second articulated position and said second maximum articulated position, said switch traveler configured to actuate said second maximum limit switch when said surgical end effector is in said second maximum articulated position.
 18. The surgical instrument of claim 11, further comprising an articulation drive assembly, comprising: a proximal articulation drive shaft configured to receive rotary actuation motions from said articulation motor; and a distal articulation drive assembly operably interfacing with said proximal articulation drive shaft and said surgical end effector and being configured to move axially in response to rotation of said proximal articulation drive shaft.
 19. The surgical instrument of claim 18, wherein said distal articulation drive assembly further comprises: an intermediate articulation driver threadably attached to said proximal articulation drive shaft such that said intermediate articulation driver moves axially in response to rotation of said proximal articulation drive shaft; and a distal articulation link attached to said surgical end effector and said intermediate articulation driver.
 20. The surgical instrument of claim 11, wherein said surgical end effector is configured to cut and staple tissue. 